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      1 /*
      2  * Copyright (C) 2008 The Android Open Source Project
      3  *
      4  * Licensed under the Apache License, Version 2.0 (the "License");
      5  * you may not use this file except in compliance with the License.
      6  * You may obtain a copy of the License at
      7  *
      8  *      http://www.apache.org/licenses/LICENSE-2.0
      9  *
     10  * Unless required by applicable law or agreed to in writing, software
     11  * distributed under the License is distributed on an "AS IS" BASIS,
     12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
     13  * See the License for the specific language governing permissions and
     14  * limitations under the License.
     15  */
     16 
     17 #define LOG_TAG "Sensors"
     18 
     19 #include <hardware/sensors.h>
     20 #include <fcntl.h>
     21 #include <errno.h>
     22 #include <dirent.h>
     23 #include <math.h>
     24 #include <poll.h>
     25 #include <pthread.h>
     26 #include <stdlib.h>
     27 
     28 #include <linux/input.h>
     29 
     30 #include <utils/Atomic.h>
     31 #include <utils/Log.h>
     32 
     33 #include "sensors.h"
     34 
     35 #if defined SENSORHAL_ACC_ADXL346
     36 #include "AdxlSensor.h"
     37 #elif defined SENSORHAL_ACC_KXTF9
     38 #include "KionixSensor.h"
     39 #else
     40 #error "Sensor configuration ERROR: No sensor is defined."
     41 #endif
     42 
     43 #include "AkmSensor.h"
     44 
     45 /*****************************************************************************/
     46 
     47 #define DELAY_OUT_TIME 0x7FFFFFFF
     48 
     49 #define LIGHT_SENSOR_POLLTIME    2000000000
     50 
     51 
     52 #define SENSORS_ACCELERATION     (1<<ID_A)
     53 #define SENSORS_MAGNETIC_FIELD   (1<<ID_M)
     54 #define SENSORS_ORIENTATION      (1<<ID_O)
     55 
     56 #define SENSORS_ACCELERATION_HANDLE     0
     57 #define SENSORS_MAGNETIC_FIELD_HANDLE   1
     58 #define SENSORS_ORIENTATION_HANDLE      2
     59 
     60 /*****************************************************************************/
     61 
     62 /* The SENSORS Module */
     63 static const struct sensor_t sSensorList[] = {
     64         { "AK8975 3-axis Magnetic field sensor",
     65           "Asahi Kasei Microdevices",
     66           1,
     67 		  SENSORS_MAGNETIC_FIELD_HANDLE,
     68           SENSOR_TYPE_MAGNETIC_FIELD, 1228.8f,
     69 		  CONVERT_M, 0.35f, 10000, 0, 0, { } },
     70 #ifdef SENSORHAL_ACC_ADXL346
     71         { "Analog Devices ADXL345/6 3-axis Accelerometer",
     72           "ADI",
     73           1, SENSORS_ACCELERATION_HANDLE,
     74           SENSOR_TYPE_ACCELEROMETER, (GRAVITY_EARTH * 16.0f),
     75 		  (GRAVITY_EARTH * 16.0f) / 4096.0f, 0.145f, 10000, 0, 0, { } },
     76         { "AK8975 Orientation sensor",
     77           "Asahi Kasei Microdevices",
     78           1, SENSORS_ORIENTATION_HANDLE,
     79           SENSOR_TYPE_ORIENTATION, 360.0f,
     80 		  CONVERT_O, 0.495f, 10000, 0, 0, { } }
     81 #endif
     82 #ifdef SENSORHAL_ACC_KXTF9
     83         { "Kionix KXTF9 3-axis Accelerometer",
     84           "Kionix",
     85           1, SENSORS_ACCELERATION_HANDLE,
     86           SENSOR_TYPE_ACCELEROMETER, (GRAVITY_EARTH * 2.0f),
     87 		  (GRAVITY_EARTH) / 1024.0f, 0.7f, 10000, 0,0, { } },
     88         { "AK8975 Orientation sensor",
     89           "Asahi Kasei Microdevices",
     90           1, SENSORS_ORIENTATION_HANDLE,
     91           SENSOR_TYPE_ORIENTATION, 360.0f,
     92 		  CONVERT_O, 1.05f, 10000, 0, 0, { } }
     93 #endif
     94 };
     95 
     96 
     97 static int open_sensors(const struct hw_module_t* module, const char* id,
     98                         struct hw_device_t** device);
     99 
    100 static int sensors__get_sensors_list(struct sensors_module_t* module,
    101                                      struct sensor_t const** list)
    102 {
    103         *list = sSensorList;
    104         return ARRAY_SIZE(sSensorList);
    105 }
    106 
    107 static struct hw_module_methods_t sensors_module_methods = {
    108         open: open_sensors
    109 };
    110 
    111 struct sensors_module_t HAL_MODULE_INFO_SYM = {
    112         common: {
    113                 tag: HARDWARE_MODULE_TAG,
    114                 version_major: 1,
    115                 version_minor: 0,
    116                 id: SENSORS_HARDWARE_MODULE_ID,
    117                 name: "AKM Sensor module",
    118                 author: "Asahi Kasei Microdevices",
    119                 methods: &sensors_module_methods,
    120         },
    121         get_sensors_list: sensors__get_sensors_list,
    122 };
    123 
    124 struct sensors_poll_context_t {
    125     struct sensors_poll_device_t device; // must be first
    126 
    127         sensors_poll_context_t();
    128         ~sensors_poll_context_t();
    129     int activate(int handle, int enabled);
    130     int setDelay(int handle, int64_t ns);
    131     int setDelay_sub(int handle, int64_t ns);
    132     int pollEvents(sensors_event_t* data, int count);
    133 
    134 private:
    135     enum {
    136         acc          = 0,
    137         akm          = 1,
    138         numSensorDrivers,
    139         numFds,
    140     };
    141 
    142     static const size_t wake = numFds - 1;
    143     static const char WAKE_MESSAGE = 'W';
    144     struct pollfd mPollFds[numFds];
    145     int mWritePipeFd;
    146     SensorBase* mSensors[numSensorDrivers];
    147 
    148 	/* These function will be different depends on
    149 	 * which sensor is implemented in AKMD program.
    150 	 */
    151     int handleToDriver(int handle);
    152 	int proxy_enable(int handle, int enabled);
    153 	int proxy_setDelay(int handle, int64_t ns);
    154 };
    155 
    156 /*****************************************************************************/
    157 
    158 sensors_poll_context_t::sensors_poll_context_t()
    159 {
    160 #ifdef SENSORHAL_ACC_ADXL346
    161     mSensors[acc] = new AdxlSensor();
    162 #endif
    163 #ifdef SENSORHAL_ACC_KXTF9
    164     mSensors[acc] = new KionixSensor();
    165 #endif
    166     mPollFds[acc].fd = mSensors[acc]->getFd();
    167     mPollFds[acc].events = POLLIN;
    168     mPollFds[acc].revents = 0;
    169 
    170     mSensors[akm] = new AkmSensor();
    171     mPollFds[akm].fd = mSensors[akm]->getFd();
    172     mPollFds[akm].events = POLLIN;
    173     mPollFds[akm].revents = 0;
    174 
    175     int wakeFds[2];
    176     int result = pipe(wakeFds);
    177     ALOGE_IF(result<0, "error creating wake pipe (%s)", strerror(errno));
    178     fcntl(wakeFds[0], F_SETFL, O_NONBLOCK);
    179     fcntl(wakeFds[1], F_SETFL, O_NONBLOCK);
    180     mWritePipeFd = wakeFds[1];
    181 
    182     mPollFds[wake].fd = wakeFds[0];
    183     mPollFds[wake].events = POLLIN;
    184     mPollFds[wake].revents = 0;
    185 }
    186 
    187 sensors_poll_context_t::~sensors_poll_context_t() {
    188     for (int i=0 ; i<numSensorDrivers ; i++) {
    189         delete mSensors[i];
    190     }
    191     close(mPollFds[wake].fd);
    192     close(mWritePipeFd);
    193 }
    194 
    195 int sensors_poll_context_t::handleToDriver(int handle) {
    196 	switch (handle) {
    197 		case ID_A:
    198 			return acc;
    199 		case ID_M:
    200 		case ID_O:
    201 			return akm;
    202 	}
    203 	return -EINVAL;
    204 }
    205 
    206 int sensors_poll_context_t::activate(int handle, int enabled) {
    207 	int drv = handleToDriver(handle);
    208 	int err;
    209 
    210 	switch (handle) {
    211 		case ID_A:
    212 		case ID_M:
    213 			/* No dependencies */
    214 			break;
    215 
    216 		case ID_O:
    217 			/* These sensors depend on ID_A and ID_M */
    218 			mSensors[handleToDriver(ID_A)]->setEnable(ID_A, enabled);
    219 			mSensors[handleToDriver(ID_M)]->setEnable(ID_M, enabled);
    220 			break;
    221 
    222 		default:
    223 			return -EINVAL;
    224 	}
    225 	err = mSensors[drv]->setEnable(handle, enabled);
    226 
    227     if (enabled && !err) {
    228         const char wakeMessage(WAKE_MESSAGE);
    229         int result = write(mWritePipeFd, &wakeMessage, 1);
    230         ALOGE_IF(result<0, "error sending wake message (%s)", strerror(errno));
    231     }
    232     return err;
    233 }
    234 
    235 int sensors_poll_context_t::setDelay(int handle, int64_t ns) {
    236 	switch (handle) {
    237 		case ID_A:
    238 		case ID_M:
    239 			/* No dependencies */
    240 			break;
    241 
    242 		case ID_O:
    243 			/* These sensors depend on ID_A and ID_M */
    244 			setDelay_sub(ID_A, ns);
    245 			setDelay_sub(ID_M, ns);
    246 			break;
    247 
    248 		default:
    249 			return -EINVAL;
    250 	}
    251 	return setDelay_sub(handle, ns);
    252 }
    253 
    254 int sensors_poll_context_t::setDelay_sub(int handle, int64_t ns) {
    255 	int drv = handleToDriver(handle);
    256 	int en = mSensors[drv]->getEnable(handle);
    257 	int64_t cur = mSensors[drv]->getDelay(handle);
    258 	int err = 0;
    259 
    260 	if (en <= 1) {
    261 		/* no dependencies */
    262 		if (cur != ns) {
    263 			err = mSensors[drv]->setDelay(handle, ns);
    264 		}
    265 	} else {
    266 		/* has dependencies, choose shorter interval */
    267 		if (cur > ns) {
    268 			err = mSensors[drv]->setDelay(handle, ns);
    269 		}
    270 	}
    271 	return err;
    272 }
    273 
    274 int sensors_poll_context_t::pollEvents(sensors_event_t* data, int count)
    275 {
    276     int nbEvents = 0;
    277     int n = 0;
    278 
    279     do {
    280         // see if we have some leftover from the last poll()
    281         for (int i=0 ; count && i<numSensorDrivers ; i++) {
    282             SensorBase* const sensor(mSensors[i]);
    283             if ((mPollFds[i].revents & POLLIN) || (sensor->hasPendingEvents())) {
    284                 int nb = sensor->readEvents(data, count);
    285                 if (nb < count) {
    286                     // no more data for this sensor
    287                     mPollFds[i].revents = 0;
    288                 }
    289 				if ((0 != nb) && (acc == i)) {
    290 					((AkmSensor*)(mSensors[akm]))->setAccel(&data[nb-1]);
    291 				}
    292                 count -= nb;
    293                 nbEvents += nb;
    294                 data += nb;
    295             }
    296         }
    297 
    298         if (count) {
    299             // we still have some room, so try to see if we can get
    300             // some events immediately or just wait if we don't have
    301             // anything to return
    302             n = poll(mPollFds, numFds, nbEvents ? 0 : -1);
    303             if (n<0) {
    304                 ALOGE("poll() failed (%s)", strerror(errno));
    305                 return -errno;
    306             }
    307             if (mPollFds[wake].revents & POLLIN) {
    308                 char msg;
    309                 int result = read(mPollFds[wake].fd, &msg, 1);
    310                 ALOGE_IF(result<0, "error reading from wake pipe (%s)", strerror(errno));
    311                 ALOGE_IF(msg != WAKE_MESSAGE, "unknown message on wake queue (0x%02x)", int(msg));
    312                 mPollFds[wake].revents = 0;
    313             }
    314         }
    315         // if we have events and space, go read them
    316     } while (n && count);
    317 
    318     return nbEvents;
    319 }
    320 
    321 /*****************************************************************************/
    322 
    323 static int poll__close(struct hw_device_t *dev)
    324 {
    325     sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
    326     if (ctx) {
    327         delete ctx;
    328     }
    329     return 0;
    330 }
    331 
    332 static int poll__activate(struct sensors_poll_device_t *dev,
    333         int handle, int enabled) {
    334     sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
    335     return ctx->activate(handle, enabled);
    336 }
    337 
    338 static int poll__setDelay(struct sensors_poll_device_t *dev,
    339         int handle, int64_t ns) {
    340     sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
    341     return ctx->setDelay(handle, ns);
    342 }
    343 
    344 static int poll__poll(struct sensors_poll_device_t *dev,
    345         sensors_event_t* data, int count) {
    346     sensors_poll_context_t *ctx = (sensors_poll_context_t *)dev;
    347     return ctx->pollEvents(data, count);
    348 }
    349 
    350 /*****************************************************************************/
    351 
    352 /** Open a new instance of a sensor device using name */
    353 static int open_sensors(const struct hw_module_t* module, const char* id,
    354                         struct hw_device_t** device)
    355 {
    356         int status = -EINVAL;
    357         sensors_poll_context_t *dev = new sensors_poll_context_t();
    358 
    359         memset(&dev->device, 0, sizeof(sensors_poll_device_t));
    360 
    361         dev->device.common.tag = HARDWARE_DEVICE_TAG;
    362         dev->device.common.version  = 0;
    363         dev->device.common.module   = const_cast<hw_module_t*>(module);
    364         dev->device.common.close    = poll__close;
    365         dev->device.activate        = poll__activate;
    366         dev->device.setDelay        = poll__setDelay;
    367         dev->device.poll            = poll__poll;
    368 
    369         *device = &dev->device.common;
    370         status = 0;
    371 
    372         return status;
    373 }
    374 
    375